Honeywell International Inc.

Milos Sotak

Zdenek Kana

Jindrich Dunik

Radek Baranek

Milos Vesely

Wesley J Hawkinson

Mark A Ahlbrecht

Pavol Malinak

David C Vacanti

Vibhor L Bageshwar

Mats Anders Brenner

Kenneth Steven Morgan

Jussi Raasakka

James Arthur McDonald

Bruce G Johnson

Michal Dobes

Tomas Vaispacher

Systems and methods for fault detection, exclusion, isolation, and re-configuration of navigation sensors using an abstraction layer are provided. In certain embodiments, a system includes a plurality of sensors that provide redundant sensor measurements, wherein redundancy of the redundant sensor measurements is achieved based on an independence between measurements from different physical sensor units in the plurality of sensors. The system additionally includes a fusion function configured to receive the redundant sensor measurements from each sensor in the plurality of sensors and calculate fused navigation parameters. Further, the system includes an abstraction layer that calculates an estimated state based on the fused navigation parameters, wherein the estimated state comprises safety assessment information for the fused navigation parameters and the fused navigation parameters. Moreover, the system includes a plurality of user systems, wherein each user system in the plurality of user systems receives the estimated state from the abstraction layer.

Fault detection, exclusion, isolation, and re-configuration of navigation sensors using an abstraction layer

Systems and methods for a single-difference based pre-filter of measurements for use in solution separation framework are provided. In certain embodiments, a navigation system includes at least one receiver configured to receive a plurality of signals transmitted from a plurality of transmitters. The navigation system further includes a processing unit operatively coupled to the navigation system, the processor configured to identify a plurality of measurements associated with the plurality of transmitters. Additionally, executable instructions cause the processing unit to calculate an auxiliary navigation solution based on a calculated single difference between the plurality of measurements; calculate one or more single difference residuals for the auxiliary navigation solution; perform statistical tests on the one or more single difference residuals; and to identify a set of measurements in the plurality of measurements for use in a solution separation method based on the statistical tests.

Single-difference based pre-filter of measurements for use in solution separation framework

Systems and methods for calculating single delta range differences using synthetic clock steering are provided. In certain embodiments, a system includes a first GNSS receiver that provides first delta range measurements and first measurement times associated with a plurality of GNSS satellites. The system further includes a second GNSS receiver that provides second delta range measurements and second measurement times associated with the plurality of GNSS satellites. Additionally, the system includes a processing unit that executes instructions that cause the processing unit to synchronize the second delta range measurements with the first delta range measurements to create synchronized delta range measurements. The executable instructions also cause the processing unit to calculate a single difference of the first delta range measurements and the synchronized delta range measurements for at least one satellite in the plurality of GNSS satellites.

Single delta range differences using synthetic clock steering

Systems and methods for implementing single differences within a solution separation framework are provided. In certain embodiments, a method includes processing pseudorange measurements to determine a full navigation solution by applying a single difference between the pseudorange measurements. The method additionally includes performing innovation sequence monitoring. Also, the method includes processing a subset of the pseudorange measurements to determine a set of navigation sub-solutions by applying a single difference between the pseudorange measurements, wherein a result of the innovation sequence monitoring is applied to the set of navigation sub-solutions; and providing faults detection and computing protection levels of quantities of navigation information based on a full navigation solution estimate, navigation sub-solution estimates, dependence among the full navigation solution and the set of navigation sub-solutions, and probabilities of missed detection and false alert.

Implementing single differences within a solution separation framework

Using geo-mapping data and only at least one inertial sensor, a Bayesian estimator uses at least one element of an uncorrected inertial navigation vector, of a moveable object on a surface, to estimate inertial navigation error information including corresponding statistical information. The estimated inertial navigation error information is used to error correct the uncorrected inertial navigation vector. The Bayesian filter also predicts inertial navigation error information, including corresponding statistical information, for a future time instance when a next uncorrected inertial navigation vector will be obtained.

Apparatus and method for terrain aided navigation using inertial position

A method to assure integrity of integrated certified and non-certified sensors or systems comprises calculating a certified main solution filter within a first software thread in a certified partition; calculating certified sub-solution filters, and sub-sub-solution filters within the first software thread; calculating a non-certified main solution filter within a second software thread in a non-certified partition; if applicable, reusing the certified main solution filter as a non-certified sub-solution filter, and reusing the certified sub-solution filters, as non-certified sub-sub-solution filters; calculating non-certified sub-solution filters, and sub-sub-solution filters, within the second software thread; based on the certified filters, determining protection limits of the certified partition, and/or providing execution of fault detection and exclusion; based on the non-certified filters, determining protection limits of the non-certified partition, and/or providing execution of fault detection and exclusion; outputting certified solutions from the certified partition; and outputting non-certified solutions from the non-certified partition.

Method to assure integrity of integrated certified and non-certified sensors

A system and methods for monitoring the integrity of navigation measurement information are disclosed. One method includes receiving a plurality of navigation measurement values, computing a first set and second set of estimates of the navigation measurement values, comparing the first set to the second set, and if the second set is statistically consistent with the first set, computing a plurality of sub-sets of the second set of estimates, computing a sub-solution for each sub-set of the second set of estimates, and computing an integrity value for each sub-solution.

Methods for monitoring the output performance of state estimators in navigation systems

An integrity monitoring method for navigation systems with heterogeneous measurements is provided. Measurements from a plurality of different type navigation aiding sources are categorized by an information domain, an aiding class and an aiding section. The information domain is a category of at least one of estimated states and measurements that represent a same physical category. The aiding class is a category that uses a same physical method to acquire measurements. The aiding section is a category of measurements from the same aiding source. The measurements are organized into a plurality of measurement clusters based at least in part on measurement fault modes to be detected, measurement fault modes to be excluded, available computer resources and required performance. An integrity monitoring algorithm is applied to the measurement clusters to determine an integrity solution for all defined integrity monitoring classes.

Integrity monitoring method for navigation systems with heterogeneous measurements

A method is provided. The method comprises: initializing a point mass filter; initializing the one or more Bayesian filters; obtaining measurement data associated with a horizontal position on a surface; obtaining measurement data of a horizontal position and a velocity; obtaining geo-mapping data; estimating, with the point mass filter, the horizontal position on the surface based upon the geo-mapping data and the measurement data; estimating, with the one or more Bayesian filters, remaining state parameters based upon an output of the point mass filter and the measurement data; predicting, with the point mass filter, an a priori horizontal position, on a surface for a future time when the next measurement data will be obtained; and predicting, with the one or more Bayesian filters, an a priori remaining state parameters for a future time when the next measurement data will be obtained.

Apparatus and method for data-based referenced navigation

A system is provided. The system comprises: a processing system comprising a memory coupled to a processor; wherein the processing system is configured to be coupled to at least one sensor; wherein the memory comprises a grid adaptation system, a system model, measurement data, and an estimation system; wherein the measurement data comprises data measured by the at least one sensor; wherein the estimation system is configured to provide probability density functions (PDFs) for a predictive estimate and a filtered estimate of a state in a form of a point-mass density; and wherein the grid adaption system is configured to adapt grid parameters of a predictive estimate and a filtered estimate.

Apparatus and method for performing grid adaption in numerical solution of recursive bayesian estimators

Methods for radar altimeter integrity monitoring are provided. One method comprises obtaining one or more GNSS measurements, or one or more hybridized GNSS/INS measurements, in an earth-centered-earth-fixed (ECEF) coordinate frame for a vehicle; obtaining one or more altitude measurements from one or more radar altimeters; transforming the altitude measurements into the ECEF coordinate frame using a terrain map and a GNSS or hybridized GNSS/INS based position estimate with ensured integrity; determining a full solution estimate of position for the vehicle based on the transformed altitude measurements, and the GNSS or hybridized GNSS/INS measurements; determining one or more sub-solution estimates of position based on a subset of the transformed altitude measurements, and the GNSS or hybridized GNSS/INS measurements; comparing the full solution estimate with the sub-solution estimates using statistical analysis; and determining an altitude protection level based on a probability of hazardous misleading information and a probability of false detection.

Integrity monitoring of radar altimeters

An attitude and heading reference system (AHRS) for a vehicle comprises an IMU that generates inertial measurements, a heading source that generates heading measurements, an attitude filter in communication with the IMU, and a heading filter in communication with the heading source. The attitude filter receives inertial measurements from the IMU; computes an attitude estimation comprising attitude estimates and covariances for the attitude estimates; and outputs the attitude estimation. The heading filter receives the heading measurements, when available, from the heading source; receives the attitude estimation, comprising the attitude estimates and the covariances for the attitude estimates; computes a heading estimation comprising a heading mean estimate and a heading variance; and outputs the heading estimation. The attitude estimation output from the attitude filter is independent of any availability of the heading measurements, such that the attitude estimation output is available at all earth regions during operation of the vehicle.

Polar region operating attitude and heading reference system

One embodiment is directed towards a method for determining a heading for a hybrid navigation system with magnetometer aiding. The method includes receiving signals from a plurality of GNSS satellites, obtaining three-dimensional inertial measurements from one or more inertial sensors, and obtaining three-dimensional magnetic measurements from one or more magnetometers. Magnetic bias states are estimated for the three-dimensional magnetic measurements with a magnetic calibration filter using the three-dimensional inertial measurements, data from the signals from the plurality of GNSS satellites, and the three-dimensional magnetic measurements. An artificial heading is calculated based on the magnetic bias states. A main navigation solution can be estimated with a main navigation filter using the three-dimensional inertial measurements, data from the signals from a plurality of GNSS satellites, and the artificial heading.

Heading for a hybrid navigation solution based on magnetically calibrated measurements

An attitude and heading reference system (AHRS) for a vehicle is provided along with methods for mitigating vehicle acceleration effects in the AHRS. The AHRS comprises an inertial measurement unit configured to generate inertial measurements from at least one accelerometer and at least one gyroscope, a heading source configured to generate heading measurements, and an adaptive statistical filter configured to mitigate the impact of vehicle acceleration effects on attitude and heading.

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Slavkov u Brna, Czechia

Milos Sotak